ROS小车记录系列（六）move_base配置

sudo apt-get install ros-melodic-navigation

记录下我的配置文件，首先建立一个move_base的launch文件，move_base.launch，内容如下：

<launch>

  设置地图的配置文件
  <arg name="map" default="mymap.yaml" />
  运行地图服务器，并且加载设置的地图-->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find base_controller)/maps/$(arg map)"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam command="delete" ns="move_base" />
    <rosparam file="$(find base_controller)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find base_controller)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find base_controller)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find base_controller)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find base_controller)/config/base_local_planner.yaml" command="load" />
    <rosparam file="$(find base_controller)/config/move_base_params.yaml" command="load" />
    <rosparam file="$(find base_controller)/config/navfn_global_planner_params.yaml" command="load" />
  </node>

</launch>

加载了地图服务，然后有6个move_base的配置yaml文件，内容记录如下，costmap_common_params.yaml：

footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, -0.3]]  #尺寸
map_type: costmap

obstacle_layer:
  enabled:              true
  max_obstacle_height:  0.6
  origin_z:             0.0
  z_resolution:         0.2
  z_voxels:             5
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  true
  obstacle_range: 2.5
  raytrace_range: 3.0
  publish_voxel_map: false
  observation_sources:  scan
  scan:
    {
      frame_name: laser,
      data_type: LaserScan,
      topic: /scan,
      inf_is_valid: true,
      marking: true,
      clearing: true,
      min_obstacle_height: 0.0,
      max_obstacle_height: 0.5}
  # for debugging only, let's you see the entire voxel grid

inflation_layer:
  enabled:              true
  cost_scaling_factor:  5.0
  inflation_radius:     0.5

static_layer:
  enabled:              true

local_costmap_params.yaml：

local_costmap:
   global_frame: odom
   robot_base_frame: base_footprint
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 6.0
   height: 6.0
   resolution: 0.05
   transform_tolerance: 1.5
   plugins:
      - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
      - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

global_costmap_params.yaml：

global_costmap:
   global_frame: map
   robot_base_frame: base_footprint
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: true
#   rolling_window: false      #滚动窗口
   resolution: 0.05
   transform_tolerance: 1.5
#   map_type: costmap
   plugins:
      - {name: static_layer, type: "costmap_2d::StaticLayer"}
      - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
      - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

base_local_planner.yaml：

recovery_behavior_enabled: true
clearing_rotation_allowed: true

TrajectoryPlannerROS:
   # Robot Configuration Parameters
   max_vel_x: 0.1 #x方向，机器人最大线速度，单位是m/s
   min_vel_x:  0.02 #x方向，机器人最小线速度，单位是m/s
   max_vel_y: 0.0
   min_vel_y:  0.0
   max_vel_theta:  0.15 #机器人最大转动速度，单位是rad/s, 0.15--8.6度/s
   min_vel_theta: -0.15
   min_in_place_vel_theta: 0.1  #机器人最小原地旋转速度，单位rad/s

   escape_vel: -0.1 #机器人的逃离速度，即背向相反方向行走速度，单位是m/s

   acc_lim_x: 0.1 #在x方向上最大的线加速度，单位是m/s^2
   acc_lim_y: 0.0
   acc_lim_theta: 0.05 #最大角加速度，单位是rad/s^2

   xy_goal_tolerance: 0.2 # 10 cm  表示接近目标允许的误差（m），值不能小于地图的分辨率
   yaw_goal_tolerance: 0.2 # about 12 degrees ，接近目标方向（就弧度来说）允许的误差（rad），此值太小会造成机器人在目标附近震荡
   latch_xy_goal_tolerance: false

   holonomic_robot: false #除非拥有一个全方位的机器人，否则设置为false

   sim_time: 2.0 #规划器能看到未来多少秒
   sim_granularity: 0.05
   angular_sim_granularity: 0.025
   vx_samples: 10
   vtheta_samples: 20
   controller_frequency: 10

   meter_scoring: true  #gdist_scale和pdist_scale参数是否假设goal_distance和path_distance以米或者单元来表达
   pdist_scale: 0.8 #紧贴全局路径比到达目标的相对重要性，如果此值比gdist_scale大，那么机器人会更紧靠全局路径行走
   gdist_scale: 0.6 #到达目标比紧靠全局路径的相对重要性，如果此值比pdist_scale大，那么机器人会采取任意路径优先到达目标
   occdist_scale: 0.1
   heading_lookahead: 0.325
   heading_scoring: false
   heading_scoring_timestep: 0.8
   dwa: true   #当模拟轨迹走向未来，是否使用动态窗口法
   publish_cost_grid_pc: true

   oscillation_reset_dist: 0.4
   forward_point_distance: 0.4

move_base_params.yaml：

shutdown_costmaps: false

controller_frequency: 10.0
controller_patience: 15.0 #1.0

planner_frequency: 1.0
planner_patience: 5.0

oscillation_timeout: 10.0
oscillation_distance: 0.2

# default: trajectory rollout
base_local_planner: "dwa_local_planner/DWAPlannerROS"

# navfn/NavfnROS、global_planner/GlobalPlanner、carrot_planner/CarrotPlanner三种；
base_global_planner: "navfn/NavfnROS"

recovery_behavior_enabled: true
recovery_behaviors: [{"name":"super_conservative_reset1", "type":"clear_costmap_recovery/ClearCostmapRecovery"}]
reset_distance: 5.0

navfn_global_planner_params.yaml：

NavfnROS:
   visualize_potential: true
   allow_unknown: false
   planner_window_x: 0.0
   planner_window_y: 0.0

   default_tolerance: 2.0

将movebase的launch文件加入机器人启动的launch文件中：

<include file="$(find base_controller)/launch/move_base.launch">    启动move_base
        </include>

这样机器启动后，就会启动move_base，订阅的话题可以wiki查看，发布导航点后，move_base将发布一个控制信息的cmd_vel话题，接收该话题，解析后串口发布给底盘控制，以两轮为例，代码如下：

void cmd_vel_callback(const geometry_msgs::Twist& cmd_vel)
{
    float linear_temp=0, angular_temp=0;//暂存的线速度和角速度

    angular_temp = cmd_vel.angular.z ;//获取/cmd_vel的角速度,rad/s
    linear_temp = cmd_vel.linear.x ;//获取/cmd_vel的线速度.m/s
    //将转换好的小车速度分量为左右轮速度
    left_vel  = 60.0 * (linear_temp - 0.5f * angular_temp * wheel_dist) / circumference;
    right_vel = 60.0 * (linear_temp + 0.5f * angular_temp * wheel_dist) / circumference;
    unsigned short int crc;
    unsigned char speed_data[10]={0};   //要发给串口的数据

    speed_data[0] = 0xAA;
    speed_data[1] = left_vel >> 8;  speed_data[2] = left_vel;
    speed_data[3] = right_vel >> 8; speed_data[4] = right_vel;
    speed_data[5] = 0;  //function bit
    crc = modbus_CRC(speed_data, 6);
    speed_data[6] = crc;
    speed_data[7] = crc >> 8;

    ser.write(data, 8);
    ROS_INFO("left_vel:%d,  right_vel:%d", left_vel, right_vel);
}

然后，小车就可以在建立的地图中动起来了。
这里只是粗略记录了整体步骤，细节还有很多需要做起来自己慢慢调试的。